AP_GPS: change GPS_AUTO_SWITCH #define list to enum class

enumeration entry had to change to NONE to avoid name conflict with DISABLED
TForce1 · Jun 25, 2020 · 8f6e9ca · 8f6e9ca
1 parent ff007dd
commit 8f6e9ca
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Showing 2 changed files with 12 additions and 5 deletions.
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
@@ -101,7 +101,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Description: Automatic switchover to GPS reporting best lock
     // @Values: 0:Disabled,1:UseBest,2:Blend,3:UseSecond
     // @User: Advanced
-    AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, 1),
+    AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, (int8_t)GPSAutoSwitch::USE_BEST),
 #endif
 
     // @Param: MIN_DGPS
@@ -276,7 +276,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
 #if defined(GPS_BLENDED_INSTANCE)
     // @Param: BLEND_MASK
     // @DisplayName: Multi GPS Blending Mask
-    // @Description: Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2
+    // @Description: Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
     // @Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed
     // @User: Advanced
     AP_GROUPINFO("BLEND_MASK", 20, AP_GPS, _blend_mask, 5),
@@ -837,7 +837,7 @@ void AP_GPS::update_primary(void)
 {
 #if defined(GPS_BLENDED_INSTANCE)
     // if blending is requested, attempt to calculate weighting for each GPS
-    if (_auto_switch == 2) {
+    if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND) {
         _output_is_blended = calc_blend_weights();
         // adjust blend health counter
         if (!_output_is_blended) {
@@ -862,13 +862,13 @@ void AP_GPS::update_primary(void)
         return;
     }
 
-    if (_auto_switch == 0) {
+    if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::NONE) {
         // AUTO_SWITCH is 0 so no switching of GPSs, always use first instance
         primary_instance = 0;
         return;
     }
 
-    if (_auto_switch == 3) {
+    if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::USE_SECOND) {
         // always select the second GPS instance
         primary_instance = 1;
         return;

diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
@@ -632,6 +632,13 @@ class AP_GPS
         GPS_AUTO_CONFIG_ENABLE  = 1
     };
 
+    enum class GPSAutoSwitch {
+        NONE        = 0,
+        USE_BEST    = 1,
+        BLEND       = 2,
+        USE_SECOND  = 3,
+    };
+
     // used for flight testing with GPS loss
     bool _force_disable_gps;